Methods and systems of actuation in robotic devices

ABSTRACT

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient&#39;s cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Provisional Application No.60/949,390, filed Jul. 12, 2007; Provisional Application No. 60/949,391,filed Jul. 12, 2007; Provisional Application No. 60/990,076, filed Nov.26, 2007; and Provisional Application No. 61/025,346, filed Feb. 1,2008, all of which are hereby incorporated herein by reference in theirentireties.

GOVERNMENT SUPPORT

This invention was made with government support under Grant No.R21EB5663-2, awarded by the National Institute of Biomedical Imaging andBioengineering within the National Institutes of Health. Accordingly,the government has certain rights in the invention.

TECHNICAL FIELD

The embodiments disclosed herein relate to various medical devicecomponents, including components that can be incorporated into roboticand/or in vivo medical devices. Certain embodiments include variousactuation system embodiments, including fluid actuation systems, drivetrain actuation systems, and motorless actuation systems. Furtherembodiments include various operational components for medical devices,including medical device arm mechanisms, medical device winchmechanisms, medical device biopsy/stapler/clamp mechanisms, and medicaldevice adjustable focus mechanisms. Other embodiments relate toreversibly lockable tube mechanisms.

BACKGROUND

Invasive surgical procedures are essential for addressing variousmedical conditions. When possible, minimally invasive procedures such aslaparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy arelimited in scope and complexity due in part to 1) mobility restrictionsresulting from using rigid tools inserted through access ports, and 2)limited visual feedback. Known robotic systems such as the da Vinci®Surgical System (available from Intuitive Surgical, Inc., located inSunnyvale, Calif.) are also restricted by the access ports, as well ashaving the additional disadvantages of being very large, very expensive,unavailable in most hospitals, and having limited sensory and mobilitycapabilities.

There is a need in the art for improved surgical methods, systems, anddevices.

SUMMARY

One embodiment disclosed herein relates to a biopsy component having asubstantially fixed jaw component, a mobile jaw component adjacent tothe substantially fixed jaw component, and a sliding componentconfigured to move between a first position and a second position. Themobile jaw component is predisposed to a position in which a distal endof the component is not in contact with the substantially fixed jawcomponent. Further, the sliding component in the second position is incontact with the mobile jaw component such that the sliding componenturges the distal end of the mobile jaw component toward thesubstantially fixed jaw component.

Another embodiment disclosed herein relates to an arm device having anextendable rotational arm, a first drive component, a second drivecomponent, a first driven component, a second driven component, and apin. The extendable rotational arm has an exterior portion having afirst coupling component and further has a first aperture defined withinthe arm. The first drive component is coupled with the first drivencomponent, and the first driven component has an inner surface having asecond coupling component that is configured to be coupled with thefirst coupling component. The second drive component is coupled with thesecond driven component, and the second driven component has a secondaperture defined within it. The pin is disposed within the first andsecond apertures. According to one embodiment, the first and secondcoupling components are threads. In a further embodiment, the first andsecond drive components and first and second driven components aregears. Alternatively, the first and second drive components and thefirst and second driven components are a pulley system or a frictiondrive system.

Yet another embodiment disclosed herein relates to a medical devicehaving a body, a first winch component and an actuation component. Thefirst winch component has a first drum and a first tether operablycoupled to the first drum. In one embodiment, the actuation component isoperably coupled to the first drum. In an additional embodiment, thedevice further has an end effector operably coupled to the distal end ofthe tether. In yet another implementation, the device also has a secondwinch component having a second drum and a second tether operablycoupled to the second drum. According to a further embodiment, thedevice also has a third winch component having a third drum and thirdtether operably coupled to the third drum.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic depicting a fluid actuation system, according toone embodiment.

FIG. 1B is a schematic depicting a valve component, according to oneembodiment.

FIG. 2A shows a front view of a medical device having a fluid actuationsystem, according to one embodiment.

FIG. 2BA depicts a front view of a medical device having a fluidactuation system, according to another embodiment.

FIG. 3 is a perspective view of a medical device, according to anotherembodiment.

FIG. 4 depicts a perspective view of a medical device joint, accordingto one embodiment.

FIG. 5 shows a perspective view of a medical device joint, according toanother embodiment.

FIG. 6 is a perspective view of an operational component, according toone embodiment.

FIG. 7A depicts a front view of a medical device having a drive trainsystem, according to one embodiment.

FIG. 7B shows a front view of a medical device having a drive trainsystem, according to another embodiment.

FIG. 8 is a cutaway view of a reversibly lockable tube positioned in atarget body cavity of a patient, according to one embodiment.

FIG. 9A depicts a perspective view of a modular tube component,according to one embodiment.

FIG. 9B shows another perspective view of the modular tube component ofFIG. 9A.

FIG. 10 is a front view of a reversibly lockable tube, according to oneembodiment.

FIG. 11 depicts a perspective view of the reversibly lockable tube ofFIG. 10.

FIG. 12 shows a perspective view of a reversibly lockable tube,according to another embodiment.

FIG. 13 is a perspective view of a reversibly lockable tube, accordingto yet another embodiment.

FIG. 14A depicts a front view of a medical device having a motorlessactuation component, according to one embodiment.

FIG. 14B shows a side view of the medical device of FIG. 14A.

FIG. 15 is a front view of a medical device having a motorless actuationcomponent, according to another embodiment.

FIG. 16 depicts a perspective view of a medical device having an armcomponent, according to one embodiment.

FIG. 17A shows a perspective view of an arm component, according to oneembodiment.

FIG. 17B is a perspective exploded view of the arm component of FIG.17A.

FIG. 18 depicts a perspective view of an arm component, according toanother embodiment.

FIG. 19A shows a perspective view of a medical device having a winchcomponent, according to one embodiment.

FIG. 19B is a front view of the medical device having the winchcomponent of FIG. 19A.

FIG. 20 depicts a cutaway view of a medical device utilizing a winchcomponent during a procedure in a patient, according to one embodiment.

FIG. 21 shows a cutaway view of a medical device utilizing a winchcomponent during a procedure in a patient, according to anotherembodiment.

FIG. 22 is a cutaway view of a medical device utilizing two winchcomponents during a procedure in a patient, according to yet anotherembodiment.

FIG. 23A depicts a front view of a medical device having a payload areathat is a biopsy mechanism, according to one embodiment.

FIG. 23B shows a front view of a medical device having a payload area,according to another embodiment.

FIG. 24A is a side view of a modular biopsy mechanism, according to oneembodiment. n.

FIG. 24B depicts another side view of the modular biopsy component ofFIG. 24A.

FIG. 24C shows a front view of the modular biopsy mechanism of FIGS. 24Aand 24B.

FIG. 25A is a side view of a modular biopsy mechanism, according toanother embodiment.

FIG. 25B depicts a front view of the modular biopsy mechanism of FIG.25A.

FIG. 26 shows a top view of a biopsy mechanism, according to anotherembodiment.

FIG. 27 is a top view of another biopsy mechanism, according to yetanother embodiment.

FIG. 28A depicts a perspective view of another biopsy mechanism,according to a further embodiment.

FIG. 28B shows a perspective view of the biopsy mechanism of FIG. 28A.

FIG. 29A is a side view of an adjustable focus component, according toone embodiment.

FIG. 29B depicts a top view of the adjustable focus component of FIG.29A.

FIG. 29C shows an end view of the adjustable focus component of FIGS.29A and 29B.

FIG. 29D is a perspective view of the adjustable focus component ofFIGS. 29A, 29B, and 29C.

FIG. 29E depicts a perspective view of the adjustable focus component ofFIGS. 29A, 29B, 29C, and 29D.

FIG. 30A shows a top view of a laboratory test jig used to measureforces applied by a biopsy mechanism, according to one embodiment.

FIG. 30B is a perspective view of the test jig and biopsy mechanism ofFIG. 30A.

FIG. 31 depicts a line graph relating to data collected from theoperation of the test jig depicted in FIGS. 30A and 30B.

DETAILED DESCRIPTION

The various systems and devices disclosed herein relate to devices foruse in medical procedures and systems. More specifically, the variousembodiments relate to various actuation or end effector components orsystems that can be used in various procedural devices and systems.

It is understood that the various embodiments of actuation, endeffector, and other types of device components disclosed herein can beincorporated into or used with any known medical devices, including, butnot limited to, robotic or in vivo devices as defined herein.

For example, the various embodiments disclosed herein can beincorporated into or used with any of the medical devices disclosed incopending U.S. application Ser. No. 11/932,441 (filed on Oct. 31, 2007and entitled “Robot for Surgical Applications”), Ser. No. 11/695,944(filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”),Ser. No. 11/947,097 (filed on Nov. 27, 2007 and entitled “RoboticDevices with Agent Delivery Components and Related Methods), Ser. No.11/932,516 (filed on Oct. 31, 2007 and entitled “Robot for SurgicalApplications”), Ser. No. 11/766,683 (filed on Jun. 21, 2007 and entitled“Magnetically Coupleable Robotic Devices and Related Methods”), Ser. No.11/766,720 (filed on Jun. 21, 2007 and entitled “Magnetically CoupleableSurgical Robotic Devices and Related Methods”), Ser. No. 11/966,741(filed on Dec. 28, 2007 and entitled “Methods, Systems, and Devices forSurgical Visualization and Device Manipulation”), 60/949,391 (filed onJul. 12, 2007), 60/949,390 (filed on Jul. 12, 2007), 60/990,062 (filedon Nov. 26, 2007), 60/990,076 (filed on Nov. 26, 2007), 60/990,086(filed on Nov. 26, 2007), 60/990,106 (filed on Nov. 26, 2007),60/990,470 (filed on Nov. 27, 2007), 61/025,346 (filed on Feb. 1, 2008),61/030,588 (filed on Feb. 22, 2008), and 61/030,617 (filed on Feb. 22,2008), all of which are hereby incorporated herein by reference in theirentireties.

In an exemplary embodiment, any of the various embodiments disclosedherein can be incorporated into or used with a natural orificetranslumenal endoscopic surgical device, such as a NOTES device. Thoseskilled in the art will appreciate and understand that variouscombinations of features are available including the features disclosedherein together with features known in the art.

Certain device implementations disclosed in the applications listedabove can be positioned within a body cavity of a patient, includingcertain devices that can be positioned against or substantially adjacentto an interior cavity wall, and related systems. An “in vivo device” asused herein means any device that can be positioned, operated, orcontrolled at least in part by a user while being positioned within abody cavity of a patient, including any device that is positionedsubstantially against or adjacent to a wall of a body cavity of apatient, further including any such device that is internally actuated(having no external source of motive force), and additionally includingany device that may be used laparoscopically or endoscopically during asurgical procedure. As used herein, the terms “robot,” and “roboticdevice” shall refer to any device that can perform a task eitherautomatically or in response to a command.

Certain embodiments disclosed herein relate to actuation components orsystems that are configured to provide motive force to any of thevarious procedural device embodiments described above. One suchembodiment is a fluid actuation system. FIG. 1A schematically depictsone embodiment of a fluid actuation system 10 for a procedural device.According to one implementation, the fluid actuation system 10 is ahydraulic system. Alternatively, the fluid actuation system 10 is apneumatic system. In a further alternative, the fluid actuation systemcan be any known such system. Hydraulic systems are generally preferredfor higher power transmission, while pneumatic systems can be a goodactuation system for binary actuation, such as actuation required for agrasper. In the hydraulic embodiment depicted in FIG. 1A, the system 10includes a medical device 12 that is connected via a hydraulicconnection line 20 to external hydraulic components 22. The device 12 asshown has a hydraulic piston assembly 14 having a piston 16 positionedwithin a cylinder 18. The piston assembly 14 can be used for anyactuation associated with the device 12, such as powering movement ofthe device 12 in relation to the patient's body, actuating a componentof the device to perform an action, or any other desired actuation.

As further shown in FIG. 1A, the piston assembly 14 is connected via ahydraulic connection line 20 to the external hydraulic components 22,which include a reservoir 24, a pump 26, and an accumulator 28. Theexternal hydraulic components 22 are positioned at a location externalto the patient's body. Thus, the hydraulic connection line 20 isconnected to the piston assembly 14 in the device 12 through the valvecomponent 30 and to the external hydraulic components 22 such that theline 20 extends from the interior of the patient's body to the exteriorwhen the device 12 is positioned in the patient's body. According to oneembodiment, the line 20 a that couples the accumulator 28 to the valvecomponent 30 is a high pressure supply line 20 a that provides fluid tothe valve component 30 under high pressure. In accordance with a furtherimplementation, the line 20 b that couples the valve component 30 to thereservoir 24 is a low pressure supply line 20 b that allows fluid tomove from the valve component 30 to the reservoir 24 under low pressure.

In one embodiment, the hydraulic fluid used in the hydraulic system 10is saline solution. Alternatively, the fluid is water-based. In afurther alternative, the hydraulic fluid can be any fluid that isnon-toxic, biocompatible, and less compressible as required to providesufficient precise control.

In one implementation, the external hydraulic components 22 are thereservoir 24, pump 26, and accumulator 28 as discussed above, whichoperate in known fashion to hydraulically power the piston assembly 14.In one example, the pump 26 used in this system is acommercially-available surgical irrigation pump, while the accumulator28 and reservoir 24 are commercially available from Parker Hannifin,which is located in Cleveland, Ohio. Alternatively, the externalhydraulic components 22 can be any known configuration of any hydrauliccomponents capable of hydraulically powering the piston 16.

According to one implementation of a fluid actuation system, the piston16 is a standard syringe handle and the cylinder 18 is the syringe body.Alternatively, the piston assembly 14 can be a small commerciallyavailable system used for model airplane landing gear. In a furtherembodiment, the piston 16 is custom machined with an o-ring around thepiston head, while the cylinder 18 is a machined or molded cavity withinthe robot's base or arms.

The valve component 30 has a valve for each piston assembly 14. Thus,the valve component 30 may have anywhere from one valve to any numberequal to the maximum number of valves provided in the system.

Another example of a valve component 32 is provided in FIG. 1B. In thisembodiment, the component 32 has six valves 34. The fluid is provided athigh pressure through the high pressure supply line 36 a and exits thevalve component 32 at a low pressure through the low pressure line 36 b.In addition, the valves 34 are each coupled to a respective pistonassembly 38 as shown. According to one embodiment, such a valvecomponent 30 (also referred to as a “valve system”) is sold by ParkerHannifin.

As mentioned above, the fluid actuation systems depicted in FIGS. 1A and1B can alternatively be a pneumatic system. Returning to FIG. 1A, inthis embodiment of a pneumatic system 10, the external pneumaticcomponents 22 are disposed externally to the patient's body. Thus, thepneumatic connection line 20 is connected to the valve component 30 inthe medical device 12 and to the external pneumatic components 22 suchthat the line 20 extends from the interior of the patient's body to theexterior when the device 12 is positioned in the patient's body.

According to one embodiment of a pneumatic system, in place of the pump26, accumulator 28, and reservoir 24. the external pneumatic component22 is a pressurized cylinder (not shown). In this embodiment, the returnair is emitted into the external environment of the system. One exampleof a pressurized cylinder is a canister of readily-available carbondioxide, which is commonly used to insufflate the abdominal cavityduring laparoscopic surgery. Alternatively, the external pneumaticcomponents 22 can be any known configuration of any pneumatic componentscapable of pneumatically powering the piston 16.

FIGS. 2A and 3 depict a robotic device 40 with a hydraulic system,according to one embodiment. The device 40 has six piston assemblies 42a, 42 b, 42 c, 42 d, 42 e, 42 f. Piston assemblies 42 a and 42 b aredisposed within the body 44 of the device 40 and actuate the first links48 a, 48 b of the robotic arms 46 a, 46 b. Piston assemblies 42 c, 42 dare disposed within the first links 48 a, 48 b and actuate the secondlinks 50 a, 50 b. In addition, piston assemblies 42 e, 42 f are disposedwithin the second links 50 a, 50 b and actuate the operationalcomponents 52, 54.

Alternatively, the device 40 can have from one to any number of pistonassemblies that can be integrated into the robotic device as actuationcomponents. According to one embodiment, a piston is provided for eachdegree of freedom.

According to one embodiment as shown in FIG. 2B, the external componentsof the hydraulic system 56 provide a high pressure supply line 57 a tothe robotic device and receive a low pressure return line 57 b from thedevice. In a further embodiment, the robotic device has a system ofvalves or a master valve system 58 that controls the hydraulic fluidflow and directs the fluid as needed to the piston assemblies, such asthe assemblies depicted in FIGS. 2A and 3.

FIG. 4 depicts a robotic device joint 60 connecting a link 62 to therobotic body 64, according to one embodiment. The body 64 has a pistonassembly 66 in which the piston 68 is coupled to a pin 70 that iscoupled in turn to the link 62 at the connection point 72. In oneimplementation, the link 62 is a first link 62 such that the joint 60 isa joint 60 between a robotic body 64 and a first link 62 (also referredto as a “shoulder joint”).

FIG. 5 depicts a robotic device joint 80 connecting a first link 82 to asecond link 84, according to one embodiment. The first link 82 has apiston assembly 86 in which the piston 88 is coupled to a pin 90 that iscoupled in turn to the second link 84 at the connection point 92. In oneimplementation, the joint 80 between the two links 82, 84 is referred toas an “elbow joint.”

FIG. 6 depicts an operational component 100 coupled to a robotic arm102, according to one embodiment. The robotic arm 102 has a pistonassembly 104 in which the piston 106 is coupled to a portion of theoperational component 100. More specifically, the piston 106 is coupledto a sliding component 108 at a connection point 110, wherein thesliding component is slidably positioned in the arm 102 such that theforce created by the piston assembly 104 is translated to the slidingcomponent 110, causing the sliding component 110 to slide back and forthin the arm 102.

The operational component 100 is coupled to the sliding component 110 atjoint 112 such that the sliding back and forth of the sliding component110 causes the operational component 100 to extend and retract relativeto the arm 102. This allows for the lengthening and shortening of thereach of the operational component 100 with respect to the arm 102 andthe procedural space in which the operational component 100 isoperating. Stated in another way, according to one embodiment, thisslidable coupling of the sliding component 110 and the arm 102 isconsidered to be the “wrist” of the arm 102, wherein the sliding of thesliding component 110 back and forth operates to lengthen and shortenthe “wrist” in relation to the rest of the arm 102.

In one embodiment, an actuator (not shown) disposed in the slidingcomponent 108 actuates the operational component 100. For example, inthe embodiment depicted in FIG. 6 in which the operational component 100is a set of graspers 100, the actuator actuates the graspers to movebetween the open and closed positions.

It is understood that a pneumatic system could be incorporated into anyof the embodiments and components depicted in FIGS. 2A, 2B, and 3-6 andcould operate in generally the same fashion as discussed above. It isfurther understood that any other type of fluid actuation system couldalso be implemented in any of these embodiments in generally the samefashion.

In accordance with one implementation, a device having a fluid actuationsystem such as the various systems disclosed herein could reduce costsassociated with the device. That is, the components of the systemassociated with the device can be integrated into the device at a lowcost (in comparison to devices having costly onboard motors, etc.),while the more expensive components can be incorporated into theexternal components of the system and thus can be re-used for extendedperiods of time. In another embodiment, the use of a fluid actuationsystem in a device can provide increased force and/or speed incomparison to internal motors.

In a further alternative embodiment, the device is a “hybrid” that hasat least one piston and at least one motor, thereby providing forfurther flexibility in the configuration of the device and thecapability of accomplishing very precise motions. For example, theprecise motions could include motions of the wrist such as rotation orextension that might require very precise control for delicate tissuedissection. In such an embodiment, the fluid actuation piston assembliescould be used for purposes of gross and/or quick actuations that requiregreater power, such as actuation of the shoulder and/or elbow joints,while the motor assemblies could be used for purposes of precise, sloweractuations, such as actuation of the wrist or operational component forprecise tasks such as dissection. In this context, the fluid actuationassemblies of the shoulder and elbow joints could then subsequently beused for the pulling or cutting motions that require greater power.

In addition to the fluid actuation systems described above, yet anotheractuation system that can be implemented with the various medicaldevices disclosed or incorporated herein is a drive train system. Oneexemplary implementation of a drive train system is shown in FIG. 7A,which depicts a robotic device 202 mechanically powered or actuated witha drive train system 200. The system 200 has a drive component 204 thatis coupled to the robotic device 202 and thereby provides mechanicalforce to the device 202.

In one embodiment as shown in FIG. 7B, the drive component 204 includesa series of axles and couplers that are connected to each other and toan actuation component 212 (which, according to one implementation, canbe a drive motor 212) and ultimately are connected to the device 202.More specifically, the drive component 204 includes the drive shaft 214,the first coupling component 215, the second coupling component 216, theconnecting shaft 217, and the third coupling component 218. According toone embodiment, the first, second, and third coupling components 215,216, 218 are coupleable gears. In operation, the actuation component 212depicted in FIG. 7B powers the drive component 204 by actuating thedrive shaft 214. The rotation of drive shaft 214 powers the rotation ofthe connecting shaft 217 via the first and second coupleable gears 215,216. The power is then transferred to the medical device 202 via thethird gear 218.

Alternatively, the drive component 204 is a flexible rod that is capableof transferring rotational power to the device 202. In a furtherembodiment, the drive component 204 is any known drive component capableof transferring power to a robotic device 202.

As shown in FIGS. 7A and 7B, this particular embodiment relates to adrive component 204 that is positioned inside a needle, port, or otherkind of insertion component 206 that is connected to a device 202positioned inside the patient's body. Alternatively, the insertioncomponent 206 is an opening or channel that provides for access orconnection to the device 202 inside the patient's body. Morespecifically, in the embodiment depicted in FIG. 7, the insertioncomponent 206 is a trocar-like port 206 that is inserted through anincision 208 in the patient, such as an incision 208 through theabdominal wall 210. The drive component 204 is then positioned withinthe port 206 and coupled to the device 202 positioned in the patient'sbody cavity.

As described above, the drive component 204 can be a rotary shaft 204that supplies rotational actuation to the device 202. In one exemplaryimplementation, the shaft 204 has a series of clutches (not shown) thattransfer the actuation to the piston assemblies or other translationassemblies for actuation of the joints and other actuable components.The miniature clutches are common components that are availablecommercially from Small Parts, Inc., located in Miami Lakes, Fla. In oneembodiment, the clutches are operated hydraulically. Alternatively, theclutches are operated electrically or by any other known method.

In a further alternative implementation, the drive component 204 windsone or more onboard tensionable springs that can then be used to providepower to the end effectors or other drivable/driven components in thedevice through a clutch system.

Alternatively, the rotary shaft 204 is a flexible rod 204. In thisembodiment, the insertion component 206 does not necessarily need to bestraight. In one example, the insertion component 206 is insertedthrough the esophagus of the patient and into the abdominal cavitythrough an incision in the stomach wall. The inner flexible rod 204 ispositioned within the insertion component 206 and coupled to the roboticdevice 202. In this example, the flexible rod 204 is rotated to providerotational actuation to the robotic device 202.

One component that can be used in conjunction with any fluid actuationor drive train actuation system such as those systems described above isa reversibly lockable tube. As used herein, “reversibly lockable tube”is intended to mean any tubular component that can be switched,adjusted, or otherwise changed between a flexible configuration and alocked configuration (in which “locked” is intended to encompass anylevel of substantial rigidity). This adjustability between flexible andrigid configurations shall also be referred to herein as the “reversiblylockable” feature. Please note that the term “tube” as used herein isintended to encompass any tubular or hose-like component that providesaccess to various cavities of a patient's body for medical proceduredevices and/or connection to such devices positioned in the patient'sbody.

FIG. 8 provides one exemplary depiction of an embodiment of a reversiblylockable tube 220 coupled to a robotic device 222 that is positioned inthe target body cavity of the patient. As discussed above, oneembodiment of the tube 220 can be adjusted between a flexibleconfiguration and a rigid or “locked” configuration. In use, suchcomponents as a hydraulic or pneumatic actuation system as describedabove can be disposed within the tube 220, along with any othercomponents that connect a robotic device disposed within the patient'sbody with components positioned externally to the patient's body. Morespecifically, the tube 220 is maintained in its flexible configurationwhile the tube 220 is being positioned through an orifice into apatient's body such as through the mouth and esophagus of the patient asdepicted in FIG. 8. Once the tube 220 has been positioned, the tube 220can be adjusted into the locked configuration during operation of thedevice 222. The operation of the various lockable tube embodimentsdisclosed herein will be described in further detail below.

FIGS. 10 and 11 depict a reversibly lockable tube 240 according to oneembodiment that is made up of multiple modular tube components (alsoreferred to herein as “links”).

One example of modular tube components 260 (such as those used in thetube 240 shown in FIGS. 10 and 11) is depicted in FIGS. 9A and 9B. FIG.9A depicts the male end 262 (or “protrusion”), while FIG. 9B depicts thefemale end 264. As shown in FIG. 9A, the male end 262 is a convexprotrusion. Alternatively, the male end 262 can be any form ofprotrusion that mates with the female end 264. As shown in FIG. 9B, thefemale end 264 is a concave formation. Alternatively, the female end 264can take any form or configuration that mates with the male end 262.

As shown in FIGS. 9A and 9B, each modular component 260 has at least onehole 268 (also referred to herein as a “channel”) defined through thecomponent 260. As depicted, the component 260 has three channels 268,270, 272. According to one embodiment, the channels 268, 270, 272 areconfigured to receive and/or allow the passage of any cables or tubesthat are to be inserted through or positioned within the reversiblylockable tube 240, such as those shown in FIGS. 10 and 11. In accordancewith one implementation, the center channel 268 is configured to receivea rigidity cable 242, best shown in FIGS. 10 and 11. The rigidity cable242 is used to convert or adjust the tube 240 into the rigidconfiguration or phase. Any additional channels, such as channels 270,272, are configured to receive electrical connection components,hydraulic or pneumatic tubes, or any other elongate members that requireinsertion into the target cavity or connection to a robotic devicepositioned in the target cavity.

According to one embodiment as best shown in FIGS. 10, 11, and 12, therigidity cable 242 operates in the following manner to adjust or convertthe tube 240 from the flexible configuration to the rigid configuration.In the flexible state as shown in FIG. 11, the cable 242 is allowed tobe loose and thus the modular components 246 are not being urged againsteach other into a tight configuration. According to one embodiment, eachmodular component 246 can move about 20 degrees relative to the adjacentcomponents 246 in the flexible state. When it is desirable to adjust ortransform the tube 240 from the flexible state to the rigid state, thecable 242 is pulled or otherwise urged at its proximal end 248 in adirection away from the tube 240. This causes the cable end 244 tocontact the distal modular component 250 and begin urging that component250 toward the other components of the tube 240. Ultimately, this urgesthe modular components 246 into a tight configuration of the components246 in which each of the components 246 is stacked tightly, or isotherwise in close contact, with the other components 246, therebyresulting in a substantially rigid configuration of the tube 240.

In use, the tube (such as tubes 220 or 240, for example) is placed inits flexible configuration or state for insertion of the robotic deviceinto the patient's body. Once the device has been positioned as desiredby the user (such as the positioning of the device 222 and tube 220depicted in FIG. 8 or alternatively as shown in FIG. 13), the tube isthen adjusted or converted or otherwise placed into its rigidconfiguration or phase. This rigidity can assist in maintaining thegeometric or physical shape and/or positioning of the tube in relationto the patient and resist against the straightening force of thehydraulic, pneumatic, or physical force being applied through theconnections between the device and the external components of thehydraulic, pneumatic, or drive train systems, respectively, as known inthe art or as described above. Thus, the tube can assist in maintainingthe stability of the robotic device during use. Alternatively, therigidity can assist with maintaining the geometric or physical shapeand/or positioning of the tube for any reason that may benefit theoperation of the medical device or the medical procedure generally.

In addition to the fluid actuation system and drive train embodimentsdiscussed above, yet another actuation component that can beincorporated into or used with any of the medical devices disclosed orotherwise described herein is a motorless actuation system or component.

FIGS. 14A and 14B depict one embodiment of a motorless actuationcomponent. More specifically, FIGS. 14A and 14B depict a robotic cameradevice 310, according to one embodiment, in which the robotic device 310is disposed within the abdominal cavity of a patient, and a magnetichandle 312 is disposed at a location external to the patient. The handle312 operates to hold the device 310 inside the abdominal cavity againstthe peritoneum (abdominal wall) via magnetic forces.

It is understood that this embodiment is similar to the embodimentsdisclosed in U.S. patent application Ser. No. 11/766,720, filed on Jun.21, 2007, and U.S. patent application Ser. No. 11/766,683, filed on Jun.21, 2007, both of which were incorporated herein above. It is furtherunderstood that any of the instant motorless actuation componentembodiments can be incorporated into any of the embodiments disclosed inthose co-pending applications.

In the implementation shown in FIGS. 14A and 14B, the device 310 iscylindrical and includes an imaging component 314, a lighting component316, magnets 318 at each end of the device, and a wired connectioncomponent 320 (also referred to herein as a “wire tether”). The magnets318 are magnetically coupleable with magnets 322 on the handle 312 suchthat the device 310 is urged toward and held against the body cavitywall. In one embodiment, the magnets 318 are configured to ensure thatthe imaging component 314 is positioned to capture a view of the bodycavity or the target area of interest.

It is understood that the magnets 318 in the device 310 and thosemagnets 322 in the handle 312 can be positioned in any configuration andinclude any number of magnets as disclosed in the U.S. patentapplication Ser. Nos. 11/766,720 and 11/766,683, incorporated herein.

It is further understood that, in one embodiment, the magnetic handle312, also referred to herein as an “external magnet,” is in the shape ofa handle. Alternatively, the handle 312 is intended to encompass anymagnetic component that is magnetically coupleable with any roboticdevice as described herein such that the magnetic component can be usedto position, operate, or control the device.

In one embodiment as described in the incorporated references above, thehandle 312 can be rotated as shown by arrow 342 to allow a tiltingfunctionality for the imaging component. Further, the device can alsoprovide for a panning functionality via rotation of the imagingcomponent as shown by arrow 344, as described in further detail below.

In use, the device 310 can be moved within the patient's body to anydesired position by moving the handle 312 outside the body.Alternatively, the device 310 can be positioned, operated, or controlledanywhere in a patient's body at least in part by the magnetic handle 312positioned outside the body in any fashion described in the referencesincorporated above.

According to one implementation, the robotic device 310 shown in FIGS.14A and 14B has two portions: an inner portion 330 and an outer portion332, as best shown in FIG. 14B. The inner portion 330, according to oneembodiment, is a cylindrically shaped inner body 330, and the outerportion 332 is an outer sleeve 332 configured to be rotatably disposedover the inner body 330. In such an embodiment, the imaging component314 and lens 315 can be panned by rotating the inner body 330 withrespect to the sleeve 332, causing the lens 315 to rotate in a fashionsimilar to that depicted by the arrow 344. In accordance with oneimplementation, the inner body 330 is coupled to the outer sleeve 332with a set of bearings (not shown).

In one implementation, the actuation component 334 that rotates theinner portion 330 relative to the outer portion 332 is a motorlessactuation component. That is, the actuation component is not a motor ora motorized component of any kind. For example, the actuation component334 as shown in FIGS. 14A and 14B includes a race 336 and ball 338. Inthis embodiment, a magnet 340 external to the patient is used to urgethe ball 338 along the race 336. In such an embodiment, the magnet 340can be coupled with the magnetic handle 312 described here as shown inFIG. 14A. In one embodiment, the race 336 is helical and the ball 338 issteel. In a race and ball implementation, as the ball 338 moves alongthe race channel 336, the inner body 330 rotates relative to the outersleeve 332. In another embodiment, the ball 338 is magnetic and movesalong a race 336.

FIG. 15 depicts an alternative embodiment of a motorless actuationcomponent in which the actuation component 352 has multiple magnets 354that are disposed in or on the robotic device 350. In this embodiment,the magnets 354 are placed in a helical pattern in the inner cylinder(not shown) so that as the external magnet 356 is translated, the innerbody rotates relative to the outer sleeve 358 as the inner body magnet354 in closest proximity to the external magnet 356 is urged toward theexternal magnet 356. In another embodiment, a series of electromagnetsin the handle 360 can be actuated in order to move the effectivemagnetic field along the handle 360.

In yet another alternative embodiment, the ball can be urged along therace by other means. For example, the device can have a cable or wireconnected to it and also connected to an external handle. Actuation ofthis cable urges the ball along the race, thereby resulting in a panningmotion of the inner body relative to the outer sleeve. In oneembodiment, the cable is attached or operably coupled in some fashion tothe ball so that actuation of the cable urges the ball along the race.

In a further alternative, the motorless actuation component does notinclude a ball and race, but instead has a drum. In this embodiment, acable such as that described above is attached to the drum so thatactuation of the cable urges the drum to rotate. This rotation of thedrum causes rotational actuation in the medical device. Alternatively,any known method of transitioning translation motion into rotary motioncould be used. Further, it is understood that any known motorlessactuation component can be incorporated into any of the medical devicesdescribed herein or incorporated by reference herein.

Various mechanical arm embodiments are provided herein that can beincorporated into any number of different kinds of medical devices. Themedical device arm configurations disclosed herein provide for variousarm embodiments having two degrees of freedom—both (1) axial movement(extension and retraction of a portion of the arm along the longitudinalaxis of the arm), and (2) rotational movement around the axis of thearm. These configurations provide for the two degrees of freedom whilemaintaining a relatively small or compact structure in comparison toprior art configurations.

It is understood that the arm embodiments disclosed herein can beutilized in any type of medical device, including those devices in whicha compact or smaller size is desirable, such as devices for proceduresto be performed within a patient. For example, the arm embodiments couldbe incorporated into various robotic medical devices, including in vivorobotic devices such as robotic devices positionable on or near aninterior cavity wall of a patient, mobile robotic devices, or roboticvisualization and control systems. An “in vivo device” as used herein isany device that can be positioned, operated, or controlled at least inpart by a user while being positioned within a body cavity of a patient,including any device that is positioned substantially against oradjacent to a wall of a body cavity of a patient, and further includingany such device that is internally actuated (having no external sourceof motive force). As used herein, the terms “robot,” and “roboticdevice” shall refer to any device that can perform a task either inresponse to a command or automatically. Further, the arm embodimentscould be incorporated into various robotic medical device systems thatare actuated externally, such as those available from ApolloEndosurgery, Inc., Hansen Medical, Inc., Intuitive Surgical, Inc., andother similar systems.

According to one embodiment as depicted in FIG. 16, one arm embodimentis incorporated into an in vivo medical device 402 as shown. The device402 has two robotic arms 404, 406 that can be configured according toany embodiment described herein.

FIGS. 17 a and 17 b depict a device arm 410, according to oneembodiment. The arm 410 has two gears: (1) a distal gear 412 thatprovides for extension and retraction of the arm 410, and (2) a proximalgear 414 that provides for rotation of the arm 410.

The distal gear 412 has gear teeth 416 on its outer surface and furtheris threaded on its inner surface (not shown). The gear teeth 416 mate orcouple with gear teeth 418 on a drive gear 420, which is coupled to anactuator (not shown). In one embodiment, the actuator is a PermanentMagnet Direct Current (“PMDC”) motor. Thus, the distal gear 412 isdriven by the actuator.

The threading on the inner surface of the distal gear 412 mates orcouples with the threading 413 on the outer surface of the arm 410 suchthat when the distal gear 412 is driven by the actuator, the gear 412rotates and the coupling of the threads on the inner surface of the gear412 with the threads 413 on the arm 410 causes the arm 410 to extend orretract depending on which direction the gear 412 turns.

The proximal gear 414 has gear teeth 422 on its outer surface that mateor couple with gear teeth 424 on a drive gear 426, which is coupled toan actuator (not shown). The gear 414 also has a pin 428 disposed withinthe gear 414 that extends through the gear 414 and further through aslot 430 in the arm 410. Thus, when the proximal gear 414 turns, the pin428 causes the arm 410 to turn as well.

The distal 412 and proximal 414 gears interface or interact at thebearing surfaces. More specifically, the distal gear 412 has a bearingsurface 432 (best shown in FIG. 17 b) having two bushings 434, 436disposed or positioned on the outer surface of the bearing surface 432.Similarly, the proximal gear 414 has a bearing surface 438 having twobushings 440, 442. The bearing surface 432 has a smaller diameter than,and is disposed within, the bearing surface 438 such that the innersurface of bearing surface 438 is in contact with the two bushings 434,436. As such, the bearing surfaces 432, 438 contact each other androtate in relation to one another at the two bushings 434, 436. Further,the two bushings 440, 442 disposed on the outer surface of the bearingsurface 438 typically contact the external gear housing or other type ofhousing (not shown).

In an alternative embodiment, gear pairs 418, 412 and 424, 422 asdepicted in FIGS. 17A and 17B are replaced with round wheel pairs inwhich each wheel is configured to be in contact with the other wheel inthe pair. In such an embodiment, each wheel has a coating or othersurface component that provides for sufficient friction when the wheelsare in contact to transmit rotational energy between the two wheels.According to one embodiment, the coating is a thin rubber coating.Alternatively, the coating or surface can be any known coating orsurface that provide sufficient friction to allow transmission ofrotational energy. This friction drive system allows the gearingcomponents to be reduced in size because of the elimination of the gearteeth.

In a further embodiment, the gears can also be replaced with a series ofcables and drums that are used to actuate the arm. In this pulley systemembodiment, the actuator that drives the cables can be located inanother portion of the robot, while a series of drums are disposed onthe arms. The cabling connects the drums with the actuator (such as amotor). This embodiment allows the actuators, drums, and arm componentsto be configured in a variety of different orientations while stillproviding sufficient actuation forces and speed to the arm endeffectors.

FIG. 18 depicts another device arm 450, according to an alternativeembodiment. The arm 450 has a distal gear 452 and a proximal gear 454.

The distal gear 452 has gear teeth 456 and is threaded on its innersurface (not shown). The gear teeth 456 mate or couple with gear teeth458 on a drive gear 460, which is coupled to an actuator (not shown). Aswith the previous embodiment, the threading on the inner surface of thedistal gear 452 mates or couples with the threading (453) on the outersurface of the arm 450 such that when the distal gear 452 is driven bythe actuator, the gear 452 rotates and the coupling of the threads onthe inner surface of the gear 452 with the threads 453 on the arm 450causes the arm 450 to extend or retract depending on which direction thegear 452 turns.

Similarly, the proximal gear 454 has gear teeth 462 on its outer surfacethat mate or couple with gear teeth 464 on a drive gear 466, which iscoupled to an actuator (not shown). The gear 454 also has a pin 468disposed within the gear 454 that extends through the gear 454 andfurther through a slot 470 in the arm 450. Thus, when the proximal gear454 turns, the pin 468 causes the arm 450 to turn as well.

The bearing surfaces in this embodiment depicted in FIG. 18 differ fromthose in the prior embodiment. That is, the distal gear 452 has abearing surface 472 that is adjacent to and in contact with a bearingsurface 474 of the proximal gear 454. Thus, the gears 452, 454 rotate inrelation to each other at the bearing surfaces 472, 474. In addition,the two bearing surfaces 472, 474 typically contact or are disposedwithin an external gear housing 476.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

One end effector or operational component that can be used with any ofthe procedural devices disclosed herein is a winch system. Generally,the devices or systems discussed herein are configured to be insertedinto or positioned in a patient's body, such as a body cavity, forexample. Alternatively, the winch systems and devices disclosed hereincan be used with any medical or procedural device.

One embodiment of a medical device having a winch component is set forthin FIGS. 19A and 19B. The medical device 510 is an in vivo roboticdevice 510 that can be positioned within a cavity of a patient, andfurther has a magnetic handle 512 that can be disposed at a locationexternal to the patient. In this embodiment, the handle 512 operates tohold the device 510 inside the abdominal cavity against the peritoneum(abdominal wall) via magnetic forces. Alternatively, any known method orcomponent for holding the device 510 against the wall could be used. Forexample, in one embodiment, the robot 510 could be held against the wallusing hooks or clamps. In a further alternative, the winch systemsdisclosed herein can be used with any known medical devices,including—but not limited to—in vivo devices with arms or wheels.

In the implementation depicted in FIGS. 19A and 19B, the device 510 hasa winch component 524 and a motor 530 to actuate the winch 524. In thisembodiment, the winch component 524 includes a drum 526 and a winchtether 528. The drum 526 operates to wind and unwind the winch tether528.

In accordance with the depicted embodiment, the device 510 has magnets520 that are magnetically coupleable with magnets 532 on the handle 512such that the device 510 is urged toward and held against the bodycavity wall. The device 510, the handle 512, and the magnets 520, 532can be configured and/or operated in the same fashion as described inU.S. application Ser. No. 11/766,720, filed on Jun. 21, 2007 andentitled “Magnetically Coupleable Robotic Devices and Related Methods,”which is incorporated by reference above. In one embodiment, it isunderstood that the magnets 520 are configured not only to ensure thatthe imaging component 516 is positioned to capture a view of the bodycavity or the target area of interest for securing the winch 524, butare also configured to provide a magnetic coupling that is strong enoughto maintain the device 510 in a stable and substantially fixed positionsuch that the winch component 524 can be operated as desired and asdescribed herein.

According to the exemplary embodiment in FIGS. 19A and 19B, theactuation component 530 is a motor 530 that provides force for rotatingthe drum 526. In this embodiment, the motor 530 is a 6 mm brushed motorthat turns a planetary gear, which revolves around a stationary sungear, thereby causing the drum 526 to rotate inside the body 514.Alternatively, a clutch (not shown) can be used to provide both (1)panning motion of a camera 516 along the axis of the body 514, and (2)winch actuation using a single motor. In a further alternative, anexterior drive train can be used to actuate the winch 524. It isunderstood that any known actuation component that can be used withmedical devices can be used with the winch components or systemsdisclosed herein.

In one embodiment, the winch tether 528 is made from suture material. Inanother embodiment, it is metallic cabling. Alternatively, any knownmaterial for use in a medical winch tether can be used.

In one embodiment, various operational components or end effectors canbe attached to the end of the winch tether. In one embodiment, the endof the winch tether 528 is attached to a hook 536, as depicted in theembodiment of FIGS. 19A and 19B. Such a hook is depicted in use in FIG.20. Alternatively, the end effector (also referred to as an “operationalcomponent”) of the tether can be a clamp or loop. In a furtheralternative, any known operational component, including any knowncomponent for attaching to tissue, can be used.

In another embodiment, the operational component can be a magnet 540that can be held against the wall with a second handle 542 as depictedin FIG. 21. In a further embodiment, the device could have two winchcomponents 550 with magnet operational components 552 that attach to twopoints in vivo as depicted in FIG. 22. Such a device could have twoseparate drums and motors, or alternatively, a single motor and drum.

The winch components and systems can be used to accomplish a variety ofprocedural tasks. In one embodiment, a device having a winch componentcould be used to retract an organ, such as the gallbladder, as depictedfor example in FIG. 20. In another embodiment, a device having a winchcomponent and a magnet operational component could be used as a sling toretract or move a very large organ such as the liver as depicted in FIG.21. In yet another embodiment, the device is used as a “gantry crane”with two winch tethers attached to the abdominal wall, as depicted inFIG. 22, or to other organs. In this embodiment, the device is guidedalong the winch tethers to change the camera or illumination location.In another embodiment, the device could be guided along the winchtether, with a third winch hook (or grasper) below the device as shownin FIG. 22. This would allow the robot to reposition itself along theline of the first two tethers while the third winch could be used tograsp a tissue of interest for retraction or other manipulation. In yetanother embodiment, the guide tethers are not suspended but lying on theorgans.

In yet another alternative embodiment, the winch component can be anyknown configuration or be made up of any known components for use in awinch. Further, while certain device embodiments are described forexemplary purposes herein, it is understood that a winch component canbe incorporated into any known robotic device for use inside a patient.For example, such a component can be incorporated into any of thedevices disclosed in the applications that are incorporated hereinelsewhere in this application.

Various additional embodiments disclosed herein relate to proceduraldevices with modular mechanical and electrical packages that can be usedtogether in various combinations to provide capabilities such asobtaining multiple tissue samples, monitoring physiological parameters,and wireless command, control and data telemetry. This modulartechnology provides a flexible device into which one or more of variousdifferent components or systems can be integrated.

Current known minimally-invasive surgical technologies require two tothree ports to accommodate the laparoscopic tools to explore theabdominal cavity and biopsy tissue of interest. The various embodimentsof the devices and modular components disclosed herein require only oneport for any medical procedure, thereby reducing patient trauma (1incision rather than 2 or 3).

FIG. 23A depicts one exemplary implementation of a modular device havinga payload area 566. The payload area 566 is configured to receive anyone of several modular components, including such components as thesensor, controller, and biopsy components discussed herein. It isunderstood that in addition to the specific modular components disclosedherein, the payload areas of the various embodiments could receive anyknown component to be added to a medical procedural device.

The modular technology disclosed herein can be incorporated into anytype of medical procedural device and is not limited to the roboticdevices described in detail herein. Certain device embodiments can be invivo or robotic devices as defined herein, including devices configuredto be positioned within a body cavity of a patient, including certaindevices that can be positioned against or substantially adjacent to aninterior cavity wall, and related systems. For example, FIG. 23B depictsa different device embodiment having a payload area 566. Thus, while therobotic device embodiments depicted in FIG. 23A is a mobile devicehaving wheels, the various modular components described herein couldjust as readily be positioned or associated with a payload area in anyother kind of robotic device or in vivo device such as the devicedepicted in FIG. 23B or can further be used in other medical devices andapplications that don't relate to robotic devices.

FIGS. 24A, 24B, and 24C depict a biopsy component 600 according to oneembodiment that can be used with any robotic device disclosed herein,including as shown for exemplary purposes in FIG. 23A or FIG. 23B. Themechanism 600 has a biopsy grasper 632 that in this implementation has apiercing or lower jaw component 602 and an upper jaw component 630. Thepiercing component 602 and jaw component 630 are structured like a pairof jaws, with the piercing component 602 being configured to remainstationary during the sampling process, providing a substantially rigidand stable base against which the upper jaw component 630 can move in ajaw-like fashion in relation to the piercing component 602 such that thejaw component 630 can ultimately make contact with the piercingcomponent 602 and thereby cut the target tissue. Unlike standardlaparoscopic biopsy tools that are generally designed to grasp tissue sothat the surgeon can then tear the sample free, this grasper is designedto completely sever the sample from the tissue of interest withoutmanual manipulation required by the surgeon or user.

In this embodiment, the upper jaw component 630 is moved in relation tothe piercing component 602 via the collar 604. More specifically, thecollar 604 is movably disposed over the piercing component 602 such thatit can move back and forth in the direction indicated by arrow A. Aproximal portion of the upper jaw component 630 is disposed between thepiercing component 602 and the collar 604 and is configured to bepositioned such that the distal end of the upper jaw 630 is not incontact with the piercing component 602 and remains in that positionwhen no force is applied to the jaw 630. Thus, when the collar 604 isurged toward the distal end of the piercing component 602, the distalend of the upper jaw component 630 is urged toward the piercingcomponent 602 such that the component 630 is capable of incising orcutting any tissue disposed between the upper jaw 630 and the piercingcomponent 602 as the upper jaw 630 makes contact with the component 602.And when the collar 604 is urged away from the distal end of thepiercing component 602, the distal end of the upper jaw 630 moves awayfrom the piercing component 602 and toward its unrestrained position.Alternatively, it is understood that any known component that canoperate in the same fashion as the collar to urge the upper jaw 630 intocontact with the piercing component 602 can be incorporated herein.

The collar 604 is urged back and forth by the motor 624. It isunderstood that this embodiment is intended to encompass any actuationstructure that urges the collar 634 to move back and forth such that theupper jaw component 630 is urged to move in relation to the piercingcomponent 602 and thereby cut target tissue.

In this particular embodiment as shown in FIG. 24A, the grasper 632 ispowered by the motor 624. Motor 624 is coupled to a nut 618 that isdriven by the motor 624 along the axis of a lead screw 616 parallel toarrow B. The nut 618 is coupled to a slider 608 via a linkage 610 thatis pivotally coupled to the nut at pin 620 and to the slider 618 at pin628. The nut 618, linkage 610, and slider 608 convert the actuationdirection from the direction of arrow B to the direction of arrow A and,according to one embodiment, increase the amount of force applied by themotor 624 to the slider 608.

The slider 608 is coupled to the collar 604 at two flexible components606A, 606B, which can be shape-memory components 606A, 606B according toone embodiment. In one example, the flexible components 606A, 606B arecomprised of nitinol. Further, the piercing component 602 is coupled tothe housing 622 via a flexible component 626. According to oneembodiment, the flexible component 626 is a shape-memory component 626such as nitinol. These flexible components 606A, 606B, and 626 allow forthe grasper 632 to be repositioned in relation to the rest of therobotic device to which it is coupled, as will be discussed in furtherdetail below.

Alternatively, the actuation component and the connection of theactuation component to the collar 634 can be any known structure orcomponent or combination thereof that provides motive force to actuatethe grasper 632.

In one alternative implementation, the piercing component 602 has aninternal reservoir (not shown) for storing one or more acquired samples.Unlike most standard laparoscopic biopsy tools that include space foronly a single sample, this reservoir can be generally large enough orlong enough (or otherwise has sufficient volume) to house multiplesamples during a biopsy procedure.

In use, the biopsy component 600 is positioned next to the target tissueusing a method such as the mobile robot wheel, or articulating robotarm. Next, the biopsy component 600 operates in the following manner toobtain a tissue sample. The motor 624 actuates the collar 604 to movetoward the distal end of the piercing component 602 and thus actuatesthe upper jaw 630 to close and contact the piercing component 602. Thetissue is cut as the upper jaw 630 is actuated towards the piercingcomponent 602 in a slicing motion. In one embodiment the tissue sampleis then stored in the piercing component 602 while additional samplesare taken.

It is understood that the device containing the biopsy component 600 mayalso have other actuable components such as wheels, arms, etc. FIG. 24Afurther depicts a motor 614 disposed within a second housing 612 that isconfigured to actuate one or more additional actuable components of thedevice. In one example, the motor 614 can actuate a wheel (not shown)operably coupled with the device. In another example, this motor 614actuates an arm (not shown) connected to the device.

In one aspect, the biopsy component 600 can also be configured to makeit easier for the medical device to be inserted through incisions,transported, and stored. FIG. 24B depicts the grasper 632 of the biopsycomponent 600 positioned at a ninety degree angle in relation to itsposition in FIG. 24A. This re-positioning of the grasper 632 isaccomplished due to the flexibility of the flexible components 606A,606B, 626 as discussed above. According to one embodiment, this secondposition of the grasper 632 allows for easier insertion and retractionof the device to which the grasper is coupled. That is, the secondposition of the grasper 632 allows for the entire device to fit moreeasily through an incision, a port, or any other opening or device foruse in medical procedures. In its operating position as depicted in FIG.24A, the grasper 632 is positioned perpendicularly to the body of therobotic device to which it is coupled. The overall length of the robotbody and grasper 632 is greater than the diameter of most laparoscopictrocars. Thus, to allow the robot/grasper 632 to be inserted through atrocar, the grasper 632 can be moved into a position that is parallel tothe length of the robotic device using the support mechanism provided bythe three flexible components 606A, 606B, 626 that provide both rigidityand the ability to flex the arm 640 degrees during insertion andretraction through a trocar or through any type of orifice, incision, ortool as necessary. This support mechanism provides the rigidity andforces required during biopsy sampling, with the flexibility requiredfor insertion and retraction before and after the biopsy occurs.

Alternatively, a variety of alternative support mechanisms using thisconcept can be envisioned.

FIG. 25A depicts an alternative embodiment of a biopsy component 640that can be used with any robotic device disclosed herein. The component640 has actuation components similar to those in the embodiment depictedin FIGS. 24A, 24B, and 24C, including a nut 646 driven along the axis ofa lead screw 648 in the direction indicated by arrow B by a motor 644.The nut 646 is attached to a slider 656 via a linkage 650 that iscoupled to the nut 646 at pin 652 and to the slider 656 at pin 650.

In this embodiment, the slider 656 performs generally the same functionas the collar described in FIG. 24. That is, the slider 656 can move inthe direction indicated by arrow A in relation to the piercing component658. Thus, similarly to the collar as described above, as the slider 656moves over the upper jaw 664, the upper jaw 664 is closed relative tothe lower piercing jaw 658.

FIG. 26 depicts an alternative embodiment of the biopsy component 660that can be used with any robotic device disclosed herein. The component660 has actuation components similar to those in the embodiment depictedin FIGS. 24A, 24B, and 24C. In this embodiment the collar 662 is urgedin the direction A. As the collar 662 moves forward it pushes the topjaw 664 downwards toward the bottom jaw 666 in direction B. The collaris held in place by the housing 672 in the same manner as described forFIG. 24.

Unlike other laparoscopic biopsy forceps in which both jaws are hingedabout a pivot point, only one jaw, the top jaw 664, of the roboticgrasper moves during sampling. The lower half of the grasper, bottom jaw666, remains stationary and provides a rigid and stable base againstwhich the top jaw 664 can cut. The fixed bottom jaw 666 is constructedfrom a hypodermic medical stainless steel tube and it forms a reservoirfor storing multiple samples.

In one embodiment the profile of the top jaw 664 is constructed out of asuper-elastic shape-memory nickel titanium alloy (Nitinol) ribbon (MemryCorporation) 0.25 mm thick and 3 mm wide. It is profiled such that thegrasper is normally open. A wide variety of profiles can be achieved byheat-treating the ribbon for approximately 10 min at 500° C., followedby quenching in water. The Nitinol ribbon is glued to a fixed nylon rodinsert that fits inside the bottom jaw 666.

The blades of the grasper are titanium nitrate coated stainless steelapproximately 1.5 mm long. Small plastic inserts are fixed to the topand bottom jaws, and the blades 668 and 670 are glued to these inserts.The round blade 670 fixed to the bottom jaw has a diameter of 3 mm. Thetop blade 668 has a semi-circular profile with a diameter of 3.8 mm andoverlaps the bottom blade when the jaw is closed. The sample is heldwithin the bottom blade as the trailing edges of the top blade helpsever the sample from the tissue.

FIG. 27 depicts an alternative embodiment of the biopsy component 680that can be used with any robotic device disclosed herein to staple orclamp tissue. The component 680 has actuation components similar tothose in the embodiment depicted in FIGS. 24A, 24B, and 24C. In thisembodiment the collar 682 is urged in the direction A. As the collar 682moves forward it pushes the top jaw 684 downwards toward the bottom jaw686 in direction B. As the top jaw 684 is pressed downwards against thebottom jaw 686, a small surgical staple 688 can be compressed to stapletissue of interest or to clamp an artery or other vessel.

This stapling arm 680 was designed to hold and close a commonlaparoscopic surgical staple. In addition to stapling, this end effectorcan also be used for applications requiring clamping and holding, suchas applying pressure to a bleeding blood vessel or manipulating othertissues of interest.

FIGS. 28A and 28B depict a further embodiment of a biopsy mechanism 690,according to one implementation. These two figures provide a detaileddepiction of the opening and closing of grasper jaws 694, 696 accordingto one embodiment. More specifically, FIG. 28A depicts the mechanism 690with the grasper jaws 694, 696 in their open configuration. In thisconfiguration, the upper jaw 694 is in a position in which the distalend is not in contact with the distal end of the lower jaw 696.

FIG. 28B depicts the mechanism 690 with the grasper jaws 694, 696 intheir closed configuration. That is, the collar 698 has moved from itsretracted position in FIG. 28A to its extended position in FIG. 28B suchthat it has urged the upper jaw 694 down toward the lower jaw 696 suchthat the jaws 694, 696 ultimately reach the closed configuration.

According to one embodiment, an imaging component in any medical devicedisclosed or incorporated herein having an imaging component can have anadjustable focus mechanism incorporated into or used with the imagingcomponent. One exemplary implementation of such an adjustable focusmechanism 702 is depicted in FIGS. 29A, 29B, 29C, 29D, and 29E. As bestshown in FIG. 29E, the mechanism 702 includes a lens subassembly 704 andtwo magnetic subassemblies 706. The lens subassembly 704 comprises alens 710, two coils of wire 712 (as best shown in FIGS. 29B, 29D, and29E), and a lens holding component 714 (as best shown in FIGS. 29A, 29D,and 29E) to hold the lenses 710 and coils 712 together in onesubassembly. As best shown in FIGS. 29D and 29E, each magneticsubassembly 706 includes a small magnet 716 attached to one side of aU-channel 722 made from ferrous metal. The lens subassembly 704 ispositioned between the two magnetic subassemblies 706. The coils 712pass over the U-channels 722 and are positioned in the magnetic fieldthat is generated between the small magnet 716 and the open side of theU-channel 722 where the coil 712 sits. As current is passed through thecoiled wire 712 that is positioned in the magnetic field, anelectromagnetic force is created that is parallel to the axis of thelens 710 and imager 718. This electromagnetic force is created by themagnetic field being perpendicular to the direction of the current.

In one embodiment, the small magnets 716 are Neodymium Magnetsmanufactured by K and J Magnetics of Jamison, Pa., the coils 712 aremanufactured by Precision Econowind of North Fort Myers, Fla., and thelens 710 is manufactured by Sunex of Carlsbad, Calif. In this embodimentthe magnets have a pull force of 2.17 lbs and a surface field of 2505Gauss, while the coils are made of 120 turns of 36 AWG coated copperwire with a DSL758 lens. Alternatively, the above components can be anycommercially available components.

According to one implementation, the lens holding component 714 ismanufactured of polycarbonate plastic to minimize weight. In theembodiment shown in FIGS. 29D and 29E, the magnets 716 are 1/16″×⅛″×¼″and the lens subassembly has a vertical stroke of 1 mm.

In one embodiment, a restoring force is provided that urges the lens 710back to it resting position when the current from the coiled wire 712 isremoved. This allows for consistent lens subassembly travel and can beused to maintain the lens in an optimum middle range of focus. Accordingto one implementation, the restoring force component 720 as best shownin FIGS. 29A and 29B is a foam component 720. Alternatively, any knowncomponent for providing a restoring force can be used.

In accordance with one embodiment, the adjustable focus mechanism 702 iscoupled with an auto focus algorithm to automatically command themechanism 702 to focus the lens to a commanded depth. In a furtherembodiment, additional lens subassemblies 704 and magnetic subassemblies706 can be combined to provide additional points of depth adjustmentaround the lens. These additional adjustment points allow a higher rangeof orientation angles of the lens to correct for any imperfections inmanufacturing assembly. In this embodiment, the coils can be commandedseparately to tilt the lens to correct for manufacturing error.

EXAMPLE

In this example, different biopsy grasper profiles and lengths wereexamined, including the effects of those profiles and lengths on theforces required to actuate the biopsy mechanism and further the maximumforces that could actually be applied by the mechanism.

FIGS. 30A and 30B depict a test jig 730 having a biopsy mechanismaccording to one embodiment. The test jig 730 as shown included a loadcell 748 that was used to measure the tensile force in the nylonsupporting rod when the collar 738 was actuated. Further, the biopsymechanism of the jig 730 had a motor 732, linkage 736, lead nut 734,collar 738, lower jaw 746 and upper jaw 744.

Various grasper embodiments with a wide range of jaw lengths, openingangles, and jaw profiles were tested for actuation forces. Requiredactuation forces were determined by using the motor 732 and lead screwlinkage 736 to slide the grasper collar 738 over the upper jaw 744 untilclosed. For each actuation, the required force was recorded startingwith the upper jaw 744 completely open and continuing until the upperjaw 744 was closed. Maximum actuation forces were determined byrecording the forces applied with the collar 738 held fixed at variouspositions corresponding to different times during actuation process.Each complete test consisted of 50 actuations of the biopsy grasper.Load cell data were recorded during each actuation at a rate of 20 Hz.

FIG. 31 depicts the mean results from a required force test for agrasper that is approximately 12 mm long, has an opening angle of 25°and has a cutting tip with a length of 4 mm profiled with a closingangle of approximately 40°. The error bars indicate the standarddeviation in the measured forces at intervals of approximately 1.8seconds. The maximum required actuation force of 2.83 N is at the verystart of the motion of the collar due to the need to overcome staticfriction and to begin flexing the top jaw of the grasper. The forcedecreases with time as the contact point between the collar and the topjaw moves farther away from the anchor point. The test results indicatethat approximately a maximum of 3 N of force is required to close thebiopsy grasper.

1. An arm component for a robotic device configured to be positionedwithin a cavity of a patient, the arm component comprising: (a) anextendable, rotational arm comprising: (i) an exterior portioncomprising a first coupling component; (ii) a first aperture definedwithin the arm; (b) a first driven component comprising a first lumencomprising a second coupling component on an inner surface of the firstlumen, the second coupling component configured to be coupled with thefirst coupling component, wherein the arm is disposed through the firstlumen; (c) a first drive component coupled with the first drivencomponent; (d) a second driven component comprising a second lumen and asecond aperture defined within the second driven component, wherein thearm is disposed through the second lumen, wherein the second aperture isperpendicular to a longitudinal axis of the arm; (e) a pin disposedwithin the first aperture and the second aperture, wherein the pin isperpendicular to the longitudinal axis of the arm; and (f) a seconddrive component coupled with the second driven component.
 2. The deviceof claim 1, wherein the first and second coupling components comprisethreads.
 3. The device of claim 1, wherein the first and second drivecomponents and the first and second driven components comprise gears. 4.The device of claim 1, wherein the first and second drive components andthe first and second driven components comprise a pulley system.
 5. Thedevice of claim 1, wherein the first and second drive components and thefirst and second driven components comprise a friction drive system. 6.The device of claim 1, wherein actuation of the first drive componentactuates the arm to extend or retract.
 7. The device of claim 1, whereinactuation of the second drive component actuates the arm to rotate. 8.The device of claim 1, wherein the arm component further comprises anend effector operably coupled to a distal end of the arm component. 9.The device of claim 1, wherein the robotic device comprises an in vivomedical device, wherein the arm component is a first robotic arm,wherein the in vivo medical device comprises the first robotic arm and asecond robotic arm.
 10. An arm component for an intracavity roboticdevice, the arm component comprising: (a) an extendable, rotatable,cylindrical arm comprising: (i) external threads defined on an externalsurface of the arm; and (ii) a slot defined within the arm; (b) a firstdriven gear positioned around the arm, the first driven gear comprising:(i) first external driven gear teeth; (ii) a first lumen defined in thefirst driven gear, the first lumen comprising internal threads definedon an inner surface of the first lumen, wherein the internal threads aremated with the external threads of the arm; and (iii) a first bushingextending from the first driven gear; (c) a first drive gear operablycoupled with external driven gear teeth of the first driven gear; (d) asecond driven gear positioned around the arm, the second driven gearcomprising: (i) second external driven gear teeth; (ii) an aperturedefined in the second driven gear, wherein the aperture is perpendicularto a longitudinal axis of the arm; (iii) a second lumen defined in thesecond driven gear, the second lumen comprising internal threads definedon an inner surface of the second lumen, wherein the internal threadsare mated with the external threads of the arm; (iv) a pin positionedthrough the slot in the arm and the aperture in the second drivencomponent, wherein the pin is perpendicular to the longitudinal axis ofthe arm; and (v) a second bushing extending from the second driven gear,the second bushing in contact with the first bushing; and (e) a seconddrive gear operably coupled with the second external driven gear teethof the second driven gear.
 11. The device of claim 10, wherein actuationof the first drive component actuates the arm to extend or retract. 12.The device of claim 10, wherein actuation of the second drive componentactuates the arm to rotate.
 13. The device of claim 10, furthercomprising an end effector operably coupled to a distal end of the armcomponent.
 14. The device of claim 10, wherein the arm component isoperably coupled at a proximal end of the arm component to theintracavity robotic device.
 15. The device of claim 14, wherein the armcomponent is a first robotic arm, wherein the intracavity robotic devicecomprises the first robotic arm and a second robotic arm.